Fuzzy Depth Control of Small Cylindrical Object Navigating Near Free-surface
Small cylindrical object navigating near free-surface is subject to wave disturbance. Wave disturbance can dramatically influence the depth control of the near-surface navigating object. In order to diminish the wave disturbance, a self-regulating fuzzy depth control method based on the adaptive fuzzy control theory is proposed to keep the small cylindrical object navigate at the expected depth under free-surface. The near-surface dynamic model of the cylindrical object is introduced with the first and second order wave forces, and the fuzzy depth control model is presented. Hardware-in-loop simulation is designed to testify the validity of the control method. The results obtained by a series of hardware-in-loop simulations demonstrate that the self-tuning fuzzy depth control method performs well in stabilizing the near-surface navigating small cylindrical object and in keeping it in the expected depth under free-surface disturbances.
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Document Type: Research Article
Publication date: 2012-03-01
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